/*
* Function for accessing _RPDO mapping parameter_ (index 0x1600+) from SDO server.
*
* For more information see file CO_SDO.h.
*/
static CO_SDO_abortCode_t CO_ODF_RPDOmap(CO_ODF_arg_t *ODF_arg){
CO_RPDO_t *RPDO;
RPDO = (CO_RPDO_t*) ODF_arg->object;
/* Reading Object Dictionary variable */
if(ODF_arg->reading){
uint8_t *value = (uint8_t*) ODF_arg->data;
if(ODF_arg->subIndex == 0){
/* If there is error in mapping, dataLength is 0, so numberOfMappedObjects is 0. */
if(!RPDO->dataLength) *value = 0;
}
return CO_SDO_AB_NONE;
}
/* Writing Object Dictionary variable */
if(RPDO->restrictionFlags & 0x08)
return CO_SDO_AB_READONLY; /* Attempt to write a read only object. */
if(*RPDO->operatingState == CO_NMT_OPERATIONAL && (RPDO->restrictionFlags & 0x02))
return CO_SDO_AB_DATA_DEV_STATE; /* Data cannot be transferred or stored to the application because of the present device state. */
if(RPDO->valid)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
/* numberOfMappedObjects */
if(ODF_arg->subIndex == 0){
uint8_t *value = (uint8_t*) ODF_arg->data;
if(*value > 8)
return CO_SDO_AB_VALUE_HIGH; /* Value of parameter written too high. */
/* configure mapping */
return CO_RPDOconfigMap(RPDO, *value);
}
/* mappedObject */
else{
uint32_t *value = (uint32_t*) ODF_arg->data;
uint8_t* pData;
uint8_t length = 0;
uint8_t dummy = 0;
uint8_t MBvar;
if(RPDO->dataLength)
return CO_SDO_AB_INVALID_VALUE; /* Invalid value for parameter (download only). */
/* verify if mapping is correct */
return CO_PDOfindMap(
RPDO->SDO,
*value,
0,
&pData,
&length,
&dummy,
&MBvar);
}
return CO_SDO_AB_NONE;
}
CO_ReturnError_t CO_RPDO_init(
CO_RPDO_t *RPDO,
CO_EM_t *em,
CO_SDO_t *SDO,
uint8_t *operatingState,
uint8_t nodeId,
uint16_t defaultCOB_ID,
uint8_t restrictionFlags,
const CO_RPDOCommPar_t *RPDOCommPar,
const CO_RPDOMapPar_t *RPDOMapPar,
uint16_t idx_RPDOCommPar,
uint16_t idx_RPDOMapPar,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx)
{
/* verify arguments */
if(RPDO==NULL || em==NULL || SDO==NULL || operatingState==NULL ||
RPDOCommPar==NULL || RPDOMapPar==NULL || CANdevRx==NULL){
return CO_ERROR_ILLEGAL_ARGUMENT;
}
/* Configure object variables */
RPDO->em = em;
RPDO->SDO = SDO;
RPDO->RPDOCommPar = RPDOCommPar;
RPDO->RPDOMapPar = RPDOMapPar;
RPDO->operatingState = operatingState;
RPDO->nodeId = nodeId;
RPDO->defaultCOB_ID = defaultCOB_ID;
RPDO->restrictionFlags = restrictionFlags;
/* Configure Object dictionary entry at index 0x1400+ and 0x1600+ */
CO_OD_configure(SDO, idx_RPDOCommPar, CO_ODF_RPDOcom, (void*)RPDO, 0, 0);
CO_OD_configure(SDO, idx_RPDOMapPar, CO_ODF_RPDOmap, (void*)RPDO, 0, 0);
/* configure communication and mapping */
RPDO->CANrxNew = false;
RPDO->CANdevRx = CANdevRx;
RPDO->CANdevRxIdx = CANdevRxIdx;
CO_RPDOconfigMap(RPDO, RPDOMapPar->numberOfMappedObjects);
CO_RPDOconfigCom(RPDO, RPDOCommPar->COB_IDUsedByRPDO);
return CO_ERROR_NO;
}
int16_t CO_RPDO_init(
CO_RPDO_t *RPDO,
CO_EM_t *EM,
CO_SDO_t *SDO,
uint8_t *operatingState,
uint8_t nodeId,
uint16_t defaultCOB_ID,
uint8_t restrictionFlags,
const CO_RPDOCommPar_t *RPDOCommPar,
const CO_RPDOMapPar_t *RPDOMapPar,
uint16_t idx_RPDOCommPar,
uint16_t idx_RPDOMapPar,
CO_CANmodule_t *CANdevRx,
uint16_t CANdevRxIdx)
{
/* Configure object variables */
RPDO->EM = EM;
RPDO->SDO = SDO;
RPDO->RPDOCommPar = RPDOCommPar;
RPDO->RPDOMapPar = RPDOMapPar;
RPDO->operatingState = operatingState;
RPDO->nodeId = nodeId;
RPDO->defaultCOB_ID = defaultCOB_ID;
RPDO->restrictionFlags = restrictionFlags;
/* Configure Object dictionary entry at index 0x1400+ and 0x1600+ */
CO_OD_configure(SDO, idx_RPDOCommPar, CO_ODF_RPDOcom, (void*)RPDO, 0, 0);
CO_OD_configure(SDO, idx_RPDOMapPar, CO_ODF_RPDOmap, (void*)RPDO, 0, 0);
/* configure communication and mapping */
RPDO->CANrxNew = 0;
RPDO->CANdevRx = CANdevRx;
RPDO->CANdevRxIdx = CANdevRxIdx;
CO_RPDOconfigMap(RPDO, RPDOMapPar->numberOfMappedObjects);
CO_RPDOconfigCom(RPDO, RPDOCommPar->COB_IDUsedByRPDO);
return CO_ERROR_NO;
}
